diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
index f305ded59..e6d6b0011 100755
--- a/src/main/flight/mixer.c
+++ b/src/main/flight/mixer.c
@@ -823,7 +823,7 @@ void mixTable(void)
             rollPitchYawMix[i] =  qMultiply(mixReduction,rollPitchYawMix[i]);
         }
         // Get the maximum correction by setting offset to center
-        throttleMin = throttleMax = throttleMin + (throttleRange / 2);
+        if (!escAndServoConfig->escDesyncProtection) throttleMin = throttleMax = throttleMin + (throttleRange / 2);
 
         if (debugMode == DEBUG_AIRMODE && i < 3) debug[1] = rollPitchYawMixRange;
     } else {
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 8dc3f28f1..45ddc7268 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -231,6 +231,8 @@ static void pidLuxFloat(const pidProfile_t *pidProfile, const controlRateConfig_
                 // prevent "yaw jump" during yaw correction
                 axisPID[YAW] = constrain(axisPID[YAW], -yaw_jump_prevention_limit - ABS(rcCommand[YAW]), yaw_jump_prevention_limit + ABS(rcCommand[YAW]));
             }
+
+            DTerm = 0.0f; // needed for blackbox
         } else {
             delta = -(gyroRate - lastRate[axis]);
             lastRate[axis] = gyroRate;
@@ -353,6 +355,8 @@ static void pidMultiWiiRewrite(const pidProfile_t *pidProfile, const controlRate
                 // prevent "yaw jump" during yaw correction
                 axisPID[YAW] = constrain(axisPID[YAW], -yaw_jump_prevention_limit - ABS(rcCommand[YAW]), yaw_jump_prevention_limit + ABS(rcCommand[YAW]));
             }
+
+            DTerm = 0; // needed for blackbox
         } else {
             delta = -(gyroRate - lastRate[axis]);
             lastRate[axis] = gyroRate;